SLEI3D: 基于异构舰队的同步探索与勘察及有限通信下的实时通信
SLEI3D: Simultaneous Exploration and Inspection via Heterogeneous Fleets under Limited Communication
AI总结：
SLEI3D通过异构舰队实现同步探索与勘察，并在有限通信条件下进行实时通信。
摘要：
无人机编队等无人空中和地面车辆已被广泛用于静态环境的常规检查，其中感兴趣的区域是已知的并在事前计划。然而，在许多应用中，这些感兴趣的区域是未知的，应在探索过程中在线识别。因此，本文考虑了同步探索、未知环境的勘察以及实时通信到移动地面控制站以报告发现的问题。异构机器人配备了不同的传感器，例如用于快速探索的长距离激光雷达和用于详细勘察的近距离摄像头。此外，在此类环境中，全球通信通常不可用，机器人只能通过无线网状网络在近距离且无阻挡时与其他机器人通信。本文提出了一种新颖的规划和协调框架（SLEI3D），该框架集成了协同3D探索的在线策略、自适应勘察和及时通信（通过间歇性或主动协议）。为考虑特征数量和位置的不确定性，开发了多层和多速率的规划机制，用于机器人子组之间的协调。所提出的框架通过大量大规模任务的高保真模拟进行了广泛验证，包括多达48台机器人和384000立方米的规模。还进行了7台机器人的硬件实验。项目网站可在https://junfengchen-robotics.github.io/SLEI3D/上访问。
英文摘要：
Robotic fleets such as unmanned aerial and ground vehicles have been widely used for routine inspections of static environments, where the areas of interest are known and planned in advance. However, in many applications, such areas of interest are unknown and should be identified online during exploration. Thus, this paper considers the problem of simultaneous exploration, inspection of unknown environments and then real-time communication to a mobile ground control station to report the findings. The heterogeneous robots are equipped with different sensors, e.g., long-range lidars for fast exploration and close-range cameras for detailed inspection. Furthermore, global communication is often unavailable in such environments, where the robots can only communicate with each other via ad-hoc wireless networks when they are in close proximity and free of obstruction. This work proposes a novel planning and coordination framework (SLEI3D) that integrates the online strategies for collaborative 3D exploration, adaptive inspection and timely communication (via the intermit-tent or proactive protocols). To account for uncertainties w.r.t. the number and location of features, a multi-layer and multi-rate planning mechanism is developed for inter-and-intra robot subgroups, to actively meet and coordinate their local plans. The proposed framework is validated extensively via high-fidelity simulations of numerous large-scale missions with up to 48 robots and 384 thousand cubic meters. Hardware experiments of 7 robots are also conducted. Project website is available at https://junfengchen-robotics.github.io/SLEI3D/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
